cuikatlastrrt.c File Reference

Detailed Description


Defines an atlas RRT on a manifold but considering a cost function so that low cost regions are explored first. The exploration is guided by the method described in

 L. Jaillet, J. Cortes, T. Simeon,
 Sampling-based path planning on configuration-space costmaps
 IEEE Transactions on Robotics, Vol. 26(4), pp. 635 - 646, 2010.
See Also
world.h world.c cuikplan.c

Definition in file cuikatlastrrt.c.


int main (int argc, char **arg)
 Main body of the cuikatlastrrt application. More...

Function Documentation

int main ( int  argc,
char **  arg 

Main body of the cuikatlastrrt application.


  • cuikatlastrrt


  • problem_name contains the world information, including the mechanism and the obstacles. The name is also used to read the sample file including the origin/goal poses.

The .world extension is optional.

argcNumber of elements in the command line that starts the application (i.e., the cuikatlastrrt command itself and its arguments).
argStrings with the arguments.
EXIT_SUCCESS (0) if the execution worked out fine and EXIT_FAILURE if not.

Definition at line 79 of file cuikatlastrrt.c.

References ADJUST_SA, ADJUST_SR, ATLASRRT_GLOBAL_NN, ATLASRRT_VERBOSE, AtlasRRTMemSize(), AtlasTRRT(), CreateFileName(), CS_WD_COST_FN, CS_WD_COST_PTR, CS_WD_DELETE, CS_WD_EXT, CS_WD_GET_NUM_SYSTEM_VARS, CS_WD_INIT, CT_DETECT_BIFURCATIONS, DeleteAtlasRRT(), DeleteAtlasRRTStatistics(), DeleteAverages(), DeleteFileName(), DeleteParameters(), DeleteSamples(), Error(), EXPLORATION_RRT, FALSE, GET_ATLASRRT_GLOBAL_CURV_CHECK, GET_ATLASRRT_STATISTICS, GetAtlasRRTNumCharts(), GetAtlasRRTNumNodes(), GetFileFullName(), GetParameter(), InitAtlasRRT(), InitAtlasRRTStatistics(), InitAverages(), InitParametersFromFile(), MOV_AVG_DOWN, MOV_AVG_UP, NEW, NewSuccesfulExperiment(), NO_UINT, ONE_TREE, PARAM_EXT, PrintAtlasRRTStatistics(), PrintAverages(), PrintAveragesHeader(), PrintParameters(), randomSet(), ReadOneSample(), ReadTwoSamples(), SaveAtlasRRT(), SaveSamples(), TRUE, USE_ATLAS_TREE, and Warning().